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<div class="title">PxMathUtils.h</div>  </div>
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<a href="PxMathUtils_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// are met:</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">//  * Redistributions of source code must retain the above copyright</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">//    notice, this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">//  * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//    notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">//    documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//  * Neither the name of NVIDIA CORPORATION nor the names of its</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">//    contributors may be used to endorse or promote products derived</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//    from this software without specific prior written permission.</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS &#39;&#39;AS IS&#39;&#39; AND ANY</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// PURPOSE ARE DISCLAIMED.  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All rights reserved.</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#ifndef PXFOUNDATION_PXMATHUTILS_H</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#define PXFOUNDATION_PXMATHUTILS_H</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="Px_8h.html">foundation/Px.h</a>&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxFoundationConfig_8h.html">foundation/PxFoundationConfig.h</a>&quot;</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxPlane_8h.html">foundation/PxPlane.h</a>&quot;</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxTransform_8h.html">foundation/PxTransform.h</a>&quot;</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacephysx.html">physx</a></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;{</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<a class="code" href="group__foundation.html#gae7058022ea016a0af40eb7728a30c928">PX_FOUNDATION_API</a> <a class="code" href="classPxQuat.html">PxQuat</a> <a class="code" href="group__common.html#gaeeccb7f7eed92f30cbbece3c45d2f5dd">PxShortestRotation</a>(<span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; from, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; target);</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="comment">/* \brief diagonalizes a 3x3 symmetric matrix y</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="comment">The returned matrix satisfies M = R * D * R&#39;, where R is the rotation matrix for the output quaternion, R&#39; its</span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="comment">transpose, and D the diagonal matrix</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="comment">If the matrix is not symmetric, the result is undefined.</span></div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="comment">\param[in] m the matrix to diagonalize</span></div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="comment">\param[out] axes a quaternion rotation which diagonalizes the matrix</span></div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="comment">\return the vector diagonal of the diagonalized matrix.</span></div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="comment">*/</span></div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<a class="code" href="group__foundation.html#gae7058022ea016a0af40eb7728a30c928">PX_FOUNDATION_API</a> <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="group__common.html#gade7a77d4ae9d14e363364a9d72cf4932">PxDiagonalize</a>(<span class="keyword">const</span> <a class="code" href="classPxMat33.html">PxMat33</a>&amp; m, <a class="code" href="classPxQuat.html">PxQuat</a>&amp; axes);</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<a class="code" href="group__foundation.html#gae7058022ea016a0af40eb7728a30c928">PX_FOUNDATION_API</a> <a class="code" href="classPxTransform.html">PxTransform</a> <a class="code" href="group__common.html#ga60805c0463b00baf463d5281e034a141">PxTransformFromSegment</a>(<span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; p0, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; p1, <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* halfHeight = NULL);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<a class="code" href="group__foundation.html#gae7058022ea016a0af40eb7728a30c928">PX_FOUNDATION_API</a> <a class="code" href="classPxTransform.html">PxTransform</a> <a class="code" href="group__common.html#gad7702c73625ee858ad6458b97856d475">PxTransformFromPlaneEquation</a>(<span class="keyword">const</span> <a class="code" href="classPxPlane.html">PxPlane</a>&amp; <a class="code" href="PxGeometryHelpers_8h.html#aa71e9d86a57681fb987b3fdb209b7760">plane</a>);</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="group__common.html#ga8024f8608f335fb039e332a3e5afbe89">   90</a></span>&#160;<a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxPlane.html">PxPlane</a> <a class="code" href="group__common.html#ga8024f8608f335fb039e332a3e5afbe89">PxPlaneEquationFromTransform</a>(<span class="keyword">const</span> <a class="code" href="classPxTransform.html">PxTransform</a>&amp; transform)</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;{</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordflow">return</span> transform.<a class="code" href="classPxTransform.html#adf6d2666a8113a72b4abbfe2e993a781">transform</a>(<a class="code" href="classPxPlane.html">PxPlane</a>(1.f,0.f,0.f,0.f));</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;}</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;} <span class="comment">// namespace physx</span></div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="namespacephysx_html"><div class="ttname"><a href="namespacephysx.html">physx</a></div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:37</div></div>
<div class="ttc" id="Px_8h_html"><div class="ttname"><a href="Px_8h.html">Px.h</a></div></div>
<div class="ttc" id="PxGeometryHelpers_8h_html_aa71e9d86a57681fb987b3fdb209b7760"><div class="ttname"><a href="PxGeometryHelpers_8h.html#aa71e9d86a57681fb987b3fdb209b7760">plane</a></div><div class="ttdeci">PxU8 plane[sizeof(PxPlaneGeometry)]</div><div class="ttdef"><b>Definition:</b> PxGeometryHelpers.h:219</div></div>
<div class="ttc" id="classPxQuat_html"><div class="ttname"><a href="classPxQuat.html">PxQuat</a></div><div class="ttdoc">This is a quaternion class. For more information on quaternion mathematics consult a mathematics sour...</div><div class="ttdef"><b>Definition:</b> PxQuat.h:49</div></div>
<div class="ttc" id="namespacephysx_html_a727d2d8426e2a21ebbc522fa65c3f97a"><div class="ttname"><a href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">physx::PxReal</a></div><div class="ttdeci">float PxReal</div><div class="ttdef"><b>Definition:</b> PxSimpleTypes.h:78</div></div>
<div class="ttc" id="classPxPlane_html"><div class="ttname"><a href="classPxPlane.html">PxPlane</a></div><div class="ttdoc">Representation of a plane. </div><div class="ttdef"><b>Definition:</b> PxPlane.h:50</div></div>
<div class="ttc" id="group__common_html_ga60805c0463b00baf463d5281e034a141"><div class="ttname"><a href="group__common.html#ga60805c0463b00baf463d5281e034a141">PxTransformFromSegment</a></div><div class="ttdeci">PX_FOUNDATION_API PxTransform PxTransformFromSegment(const PxVec3 &amp;p0, const PxVec3 &amp;p1, PxReal *halfHeight=NULL)</div><div class="ttdoc">creates a transform from the endpoints of a segment, suitable for an actor transform for a PxCapsuleG...</div></div>
<div class="ttc" id="group__common_html_gad7702c73625ee858ad6458b97856d475"><div class="ttname"><a href="group__common.html#gad7702c73625ee858ad6458b97856d475">PxTransformFromPlaneEquation</a></div><div class="ttdeci">PX_FOUNDATION_API PxTransform PxTransformFromPlaneEquation(const PxPlane &amp;plane)</div><div class="ttdoc">creates a transform from a plane equation, suitable for an actor transform for a PxPlaneGeometry ...</div></div>
<div class="ttc" id="classPxTransform_html_adf6d2666a8113a72b4abbfe2e993a781"><div class="ttname"><a href="classPxTransform.html#adf6d2666a8113a72b4abbfe2e993a781">PxTransform::transform</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transform(const PxVec3 &amp;input) const</div><div class="ttdef"><b>Definition:</b> PxTransform.h:111</div></div>
<div class="ttc" id="PxPlane_8h_html"><div class="ttname"><a href="PxPlane_8h.html">PxPlane.h</a></div></div>
<div class="ttc" id="group__common_html_gade7a77d4ae9d14e363364a9d72cf4932"><div class="ttname"><a href="group__common.html#gade7a77d4ae9d14e363364a9d72cf4932">PxDiagonalize</a></div><div class="ttdeci">PX_FOUNDATION_API PxVec3 PxDiagonalize(const PxMat33 &amp;m, PxQuat &amp;axes)</div></div>
<div class="ttc" id="group__common_html_gaeeccb7f7eed92f30cbbece3c45d2f5dd"><div class="ttname"><a href="group__common.html#gaeeccb7f7eed92f30cbbece3c45d2f5dd">PxShortestRotation</a></div><div class="ttdeci">PX_FOUNDATION_API PxQuat PxShortestRotation(const PxVec3 &amp;from, const PxVec3 &amp;target)</div><div class="ttdoc">finds the shortest rotation between two vectors. </div></div>
<div class="ttc" id="classPxTransform_html"><div class="ttname"><a href="classPxTransform.html">PxTransform</a></div><div class="ttdoc">class representing a rigid euclidean transform as a quaternion and a vector </div><div class="ttdef"><b>Definition:</b> PxTransform.h:48</div></div>
<div class="ttc" id="classPxMat33_html"><div class="ttname"><a href="classPxMat33.html">PxMat33</a></div><div class="ttdoc">3x3 matrix class </div><div class="ttdef"><b>Definition:</b> PxMat33.h:90</div></div>
<div class="ttc" id="PxTransform_8h_html"><div class="ttname"><a href="PxTransform_8h.html">PxTransform.h</a></div></div>
<div class="ttc" id="group__foundation_html_gae7058022ea016a0af40eb7728a30c928"><div class="ttname"><a href="group__foundation.html#gae7058022ea016a0af40eb7728a30c928">PX_FOUNDATION_API</a></div><div class="ttdeci">#define PX_FOUNDATION_API</div><div class="ttdef"><b>Definition:</b> PxFoundationConfig.h:51</div></div>
<div class="ttc" id="group__common_html_ga8024f8608f335fb039e332a3e5afbe89"><div class="ttname"><a href="group__common.html#ga8024f8608f335fb039e332a3e5afbe89">PxPlaneEquationFromTransform</a></div><div class="ttdeci">PX_INLINE PxPlane PxPlaneEquationFromTransform(const PxTransform &amp;transform)</div><div class="ttdoc">creates a plane equation from a transform, such as the actor transform for a PxPlaneGeometry ...</div><div class="ttdef"><b>Definition:</b> PxMathUtils.h:90</div></div>
<div class="ttc" id="group__foundation_html_gacb03347b642a2a5bdea1f9b305a6fbec"><div class="ttname"><a href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a></div><div class="ttdeci">#define PX_INLINE</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:336</div></div>
<div class="ttc" id="PxFoundationConfig_8h_html"><div class="ttname"><a href="PxFoundationConfig_8h.html">PxFoundationConfig.h</a></div></div>
<div class="ttc" id="classPxVec3_html"><div class="ttname"><a href="classPxVec3.html">PxVec3</a></div><div class="ttdoc">3 Element vector class. </div><div class="ttdef"><b>Definition:</b> PxVec3.h:49</div></div>
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